Fuzzy control system for longitudinal mobile platform of in-bundle robot

LI Min; ZHANG Ya-nan; GONG Zhen-bang 

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Fuzzy control system for longitudinal mobile platform of in-bundle robot

更新时间：2020-08-12

- Fuzzy control system for longitudinal mobile platform of in-bundle robot
- Optics and Precision Engineering Vol. 11, Issue 4, Pages: 343-348(2003)
- 作者机构：
  
  上海大学, 精密机械工程系, 上海, 200072
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP24
- Received：08 October 2002，
  
  Revised：16 May 2003，
  
  Published Online：15 August 2003，
  
  Published：15 August 2003
- 稿件说明：
移动端阅览
李旻, 章亚男, 龚振邦. 管间机器人纵向移动平台模糊控制系统[J]. 光学精密工程, 2003,(4): 343-348

LI Min, ZHANG Ya-nan, GONG Zhen-bang . Fuzzy control system for longitudinal mobile platform of in-bundle robot[J]. Editorial Office of Optics and Precision Engineering, 2003,(4): 343-348
李旻, 章亚男, 龚振邦. 管间机器人纵向移动平台模糊控制系统[J]. 光学精密工程, 2003,(4): 343-348 DOI：

LI Min, ZHANG Ya-nan, GONG Zhen-bang . Fuzzy control system for longitudinal mobile platform of in-bundle robot[J]. Editorial Office of Optics and Precision Engineering, 2003,(4): 343-348 DOI：

摘要

针对核电站蒸汽发生器热交换管道自动化视频检测的要求

研制了管间机器人

介绍了管间机器人结构和工作原理。检测模块安装在纵向移动平台上

纵向移动平台由步进电机驱动沿导轨做间歇直线运动。在每个管间距行程中

步进电机必须有升速和降速过程

这样可以防止堵转、失步并提高效率。对无法精确建模的纵向移动平台系统

用模糊控制原理设计了步进电机的升降速曲线

给出了模糊推理的步骤。用单片机和外围电路制作了步进电机控制器

将设计结果用于控制程序设计

实验证明纵向移动平台升降速过程平稳

从导轨始端移动到末端的位置总误差在允许范围内

管间机器人样机在此基础上实现了对蒸汽发生器模型的自动化检测。

Abstract

An in-bundle robot was developed to meet the requirement of automatic video inspection on the pipes in the steam generators of nuclear power plants. The structure and principle of the in bundle robot are presented. The longitudinal mobile platform with the inspection module in place is actuated by a stepping motor moves along a guide rail intermittently. There is an acceleration and a deceleration each movement between two tube columns to prevent step loss and to improve efficiency. For the longitudinal mobile platform system which can not be set up accurately

fuzzy control theory has been applied to design the acceleration and deceleration curves of the stepping motor

and the fuzzy inference process is provided. The stepping motor controller is composed of a single chip computer and its peripheral circuits. The inference results were used to design the control program. Experiments testify that while the longitudinal mobile platform remains stable during acceleration and deceleration with total position error within the allowance

the in bundle robot has realized automatic video inspection of a steam generator model.

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Keywords

references

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